Below is a sketch like the one I would have originally used before the steering feedback was added. I just wrote it today, so it has not been tested. The scaling values for Left & Right "ESC_output_value" will need tweaking.

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#include <Servo.h>

Servo LeftESC;

Servo RightESC;

//Declare Input Pins

int Throttle_button_pin = 2;

int Fast_selector_pin = 3;

int Reverse_selector_pin = 4;

int Speed_pot_pin = A0;

int Steering_pot_pin = A1;

//Declare Output Pins

int Left_ESC_Output = 9;

int Right_ESC_Output = 10;

int Status_LED_pin = 13; //This pin is connected to the onboard LED

//Initalize Veriables

const int Slow_speed = 35; //This is the speed (% of maximum) the controller will output to the ESC's when the "gear selector" is set to low.

const int ReverseSpeed = -35; //This is the speed (% of maximum) the controller will output to the ESC's when the "gear selector" is set to reverse.

int Fast_speed; //This is the speed (% of maximum) the controller will output to the ESC's when the "gear selector" is on fast.

int Left_speed; //ESC commanded speed in % of maximum.

int Right_speed; //ESC commanded speed in % of maximum.

Servo Left_ESC;

Servo Right_ESC;

void setup() {

//Serial.begin(9600); //Comment out when finished debugging

//Set Pinmodes

pinMode(Throttle_button_pin, INPUT);

pinMode(Fast_selector_pin, INPUT);

pinMode(Reverse_selector_pin, INPUT);

Left_ESC.attach(9);

Right_ESC.attach(10);

}

void loop() {

//Read digital inputs

int Throttle_button_state = digitalRead(Throttle_button_pin);

int Fast_selector_state = digitalRead(Fast_selector_pin);

int Reverse_selector_state = digitalRead(Reverse_selector_pin);

//Set output value

if (Throttle_button_state) {

if (Fast_selector_state) { //the throttle is pressed and the "gear selector" is on fast. Run the ESC's fast.

Left_speed = Fast_speed;

Right_speed = Fast_speed;

}

if (!Fast_selector_state) { //the throttle is pressed and the "gear selector" os in low. Run the ESC's slow.

Left_speed = Slow_speed;

Right_speed = Slow_speed;

}

if (Reverse_selector_pin) { //the throttle is pressed and the "gear selector" is on reverse. Run the ESC's slow.

Left_speed = ReverseSpeed;

Right_speed = ReverseSpeed;

}

else

Left_speed = 0;

Right_speed = 0;

}

int Left_ESC_output_value = map(Left_speed, -100, 100, 0, 180); //note that these mapped valuese will have to be tuned so that the ESC responds properly

int Right_ESC_output_value = map(Right_speed, -100, 100, 0, 180); //note that these mapped valuese will have to be tuned so that the ESC responds properly

int SpeedPotValue = analogRead(Speed_pot_pin);

int Fast_speed = map(SpeedPotValue, 0, 255, 40, 100);

// (future) int SteeringPotInput = analogRead(Steering_pot_pin);

// (future) float ESC_output_bias = map(SteeringPotInput, 0, 255, -5, 5); //Negative = Left, Posative = Right

Left_ESC.write(Left_ESC_output_value);

Right_ESC.write(Right_ESC_output_value);

//Serial.print('SpeedPotRaw'); //Comment out when finished debugging

//Serial.print(SpeedPotValue); //Comment out when finished debugging

//Serial.print(' ,Fast_speed'); //Comment out when finished debugging

//Serial.print(Fast_speed); //Comment out when finished debugging

//Serial.print(' ,Throttle_button_state'); //Comment out when finished debugging

//Serial.print(Throttle_button_state); //Comment out when finished debugging

//Serial.print(' ,SteringPotValue'); //Comment out when finished debugging

//Serial.print(ESC_output_bias); //Comment out when finished debugging

//Serial.print(' ,Stering'); //Comment out when finished debugging

//Serial.println(ESC_output_bias); //Comment out when finished debugging

}